{"created":"2023-06-20T15:03:26.377238+00:00","id":32649,"links":{},"metadata":{"_buckets":{"deposit":"85d9b969-e4e5-4fca-9cd0-51554744d8b1"},"_deposit":{"created_by":1,"id":"32649","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"32649"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00032649","sets":["1887:1890","1896:1898:1899:1911"]},"author_link":["410601","410598","410602","410600","410606","410608","410599","410593","410609","410603","410597","410595","410605","410607","410610","410594","410596","410604"],"item_9_alternative_title_2":{"attribute_name":"その他のタイトル（英）","attribute_value_mlt":[{"subitem_alternative_title":"Kalman Filtering Used in The Attitude Determination Systems for Astronomy Missions of ISAS"}]},"item_9_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1999-02","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"88","bibliographicPageStart":"1","bibliographicVolumeNumber":"102","bibliographic_titles":[{"bibliographic_title":"宇宙科学研究所報告"}]}]},"item_9_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"本報告書は, 宇宙科学研究所のこれまでおよび近い将来の天文観測用科学衛星の姿勢決定系に採用されてきたカルマンフィルタに関して, そのアルゴリズムおよび実用上の工夫を中心に記述する。宇宙科学研究所の天文観測用科学衛星で, 姿勢決定にカルマンフィルタがはじめて適用されたひ\"ぎんが\"の打ち上げ(1987年2月)から10年以上が経過した。この間に打ち上げられた天文観測衛星の飛翔ごとに, その経験にもとづいてカルマンフィルタにおいても実用上の工夫が取り入れられてきた。一方, 観測ミッションの達成に必要な姿勢制御精度/姿勢決定精度はますます厳しくなり, カルマンフィルタを用いる場合にも, より厳密なアルゴリズムを適用することが必要となってきた。以上の背景を基に, 本報告書では, これまで用いてきたカルマンフィルタの設計や適用の方法をまとめておくことを通じて, 今後の衛星への確実な技術継承を図ることを目的としている。本報告書の構成は, 以下の通りである。第1章では, 宇宙科学研究所の天文観測用科学衛星における姿勢決定系の開発の流れを示す。第2章では, 姿勢決定系におけるカルマンフィルタのアルゴリズムを, 付録 A に示した一般的定式化を基に記述する。第3章では, カルマンフィルタの性能を定めるパラメータと性能との関係を明らかにし, カルマンフィルタの設計指針を与える。第4章では, これまでの天文観測用科学衛星におけるカルマンフィルタの適用方法を, 実際の衛星を対象として具体的に説明する。付録 A には, カルマンフィルタの一般的定式化をまとめて記載しておく。なお, 付録 B 以下では, 姿勢決定系カルマンフィルタの定式化を図る上で不可欠であるオイラーパラメータ, それに基づく姿勢運動の方程式の記述, カルマンフィルタの状態変数を決定する上で必要となる可観測性の検証方法についてまとめておく。","subitem_description_type":"Abstract"}]},"item_9_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"This report describes the detailed algorithms and practical design techniques for the attitude determination Kalman filtering which have been and will be applied to the astronomy missions of the Institute of Space and Astronautical Science (ISAS). More than ten years have passed since the successful launch of \"GINGA\" in February 1987,to which Kalman filtering technique was first applied for the attitude determination. During the period, flight experiences have helped improve the practical design techniques for the Kalman filter for attitude determination. On the other hand, more exact algorithm needs to be applied to the near future astoronomy missions under development, that require better attitude determination and control accuracy. With these as the background, the report summarizes the design techniques and methods of the Kalman filtering as applied to the astoronomy missions of ISAS. The report consists of the following sections. (1) Overview of the development history of the attitude determination Kalman filtering as applied to the astronomy missions of ISAS. (2) Definition of the detailed algorithm for the attitude determination Kalman filter. (3) Performance analysis method for the attitude determination Kalman filter. (4) Definition of practical design techniques for each of the astronomy missions of ISAS introduced in Section (1). Appendix A gives basic formulae of Kalman filtering. Appendices B, C and D include several basic formulae concerning Euler parameters, attitude kinematic equations expressed by Euler parameters, and the method for checking observability.","subitem_description_type":"Other"}]},"item_9_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: SA0165955000","subitem_description_type":"Other"}]},"item_9_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙科学研究所"}]},"item_9_source_id_21":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0285-2853","subitem_source_identifier_type":"ISSN"}]},"item_9_source_id_24":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00354474","subitem_source_identifier_type":"NCID"}]},"item_9_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"日本電気(株)宇宙開発事業部"},{"subitem_text_value":"日本電気航空宇宙システム(株)"},{"subitem_text_value":"日本電気(株)宇宙開発事業部"},{"subitem_text_value":"日本電気(株)宇宙開発事業部"},{"subitem_text_value":"日本電気(株)宇宙開発事業部"},{"subitem_text_value":"日本電気航空宇宙システム(株)"},{"subitem_text_value":"日本電気航空宇宙システム(株)"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"二宮, 敬虔"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"橋本, 樹明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"飯田, 浩"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"卯尾, 匡史"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"村中, 昇"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"前田, 健"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"小倉, 直人"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"斎藤, 徹"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"藤原, 宏悦"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"NINOMIYA, Keiken","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"HASHIMOTO, Tatsuaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"IIDA, Hiroshi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Uo, Masashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"MURANAKA, Noboru","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"MAEDA, Ken","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"OGURA, Naoto","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"SAITOH, Tetsu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"FUJIWARA, Koetsu","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2020-01-24"}],"displaytype":"detail","filename":"SA0165955.pdf","filesize":[{"value":"5.8 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"SA0165955.pdf","url":"https://jaxa.repo.nii.ac.jp/record/32649/files/SA0165955.pdf"},"version_id":"614cc360-fdd7-4caf-9826-8e2c01510348"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"天文観測用科学衛星の姿勢決定系におけるカルマンフィルタ","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"天文観測用科学衛星の姿勢決定系におけるカルマンフィルタ"}]},"item_type_id":"9","owner":"1","path":["1890","1911"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"32649","relation_version_is_last":true,"title":["天文観測用科学衛星の姿勢決定系におけるカルマンフィルタ"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T00:27:09.896609+00:00"}